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java.lang.Objectsugr.TriRelationalProperty
This class represents trilinear relations. This is used for modeling relations with transformations (projections and homographies). The relation includes two concrete entities (first, second) and the type of the transformation (e.g. a transformation). second=Transformation*first
Field Summary | |
private Entity |
first
|
private Entity |
second
|
private java.lang.Class |
targetType
|
Constructor Summary | |
TriRelationalProperty(Entity _first,
Entity _second,
java.lang.Class _targetType)
Construct a trilinear Relation e2= T*e1. |
Method Summary | |
void |
changeNullspace()
Changes the nullspace for all entities |
private static Matrix |
ChangeOrderVecTrans(Matrix J)
Change the order of columns of a matrix in that way that the resulting matrix is J with J*vec(H) =0 whereas the input matrix is J*vec(Ht). |
java.lang.Object |
clone()
Clone a relational property. |
static double[] |
doCondition(RelationalProperty[] rprops)
Do conditioning of the observations.Two factors for all first entities and all second entities are returned. |
static void |
doCondition(RelationalProperty[] rprops,
double[] f)
Do conditioning of the observations. |
static double[] |
doConditionOneFactor(RelationalProperty[] rprops)
Do conditioning of the observations with one factor. |
void |
ensureConstraints()
Ensures, that all elements fulfill their constraints |
Matrix |
getCovarianceOfJacobianRow(int row)
Returns the Covariance Matrix of the row-vector of the Jacobian Matrix A of the first Entity and the relation type. |
Matrix |
getCovarianceOfObservations()
The the covariance matrix of the observation of that relation. |
int |
getDof()
Compute degrees of freedom of that relation. |
Entity |
getFirstEntity()
Get the first Entity. |
Matrix |
getJacobian()
Return Jacobian Matrix A of the first Entity and the relation type. |
Matrix |
getJacobianOfObservationConstraints()
Get the Jacobian of the constraint of the observation |
Vector |
getObservations()
Get observation of that relation. |
Matrix |
getReducedCovarianceOfObservations()
The "reduced" covariance matrix of the observations which takes care of the homogeneous constraint. |
Entity |
getSecondEntity()
Get the second Entity. |
java.lang.Class |
getTargetType()
Get the type of the target entity. |
Vector |
getValueOfObservationConstraints()
Get the value of the constraint of the observation |
void |
setObservations(Vector v)
Set observations of that relation (as a stacked vector). |
Methods inherited from class java.lang.Object |
equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Field Detail |
private Entity first
private Entity second
private java.lang.Class targetType
Constructor Detail |
public TriRelationalProperty(Entity _first, Entity _second, java.lang.Class _targetType)
_first
- the first Entity of the relation_second
- the second Entity_targetType
- the type of the element to be estimated e.g.
a transformation.Method Detail |
public java.lang.Class getTargetType()
getTargetType
in interface RelationalProperty
public Entity getFirstEntity()
public Entity getSecondEntity()
public Matrix getJacobian()
Return Jacobian Matrix A of the first Entity and the relation type.
getJacobian
in interface RelationalProperty
public java.lang.Object clone()
clone
in interface RelationalProperty
public int getDof()
getDof
in interface RelationalProperty
public Matrix getCovarianceOfJacobianRow(int row)
Returns the Covariance Matrix of the row-vector of the Jacobian Matrix A of the first Entity and the relation type.
getCovarianceOfJacobianRow
in interface RelationalProperty
row
- Row vector, for which the Covariance matrix is to be returned
public Vector getObservations()
getObservations
in interface RelationalProperty
public void setObservations(Vector v)
setObservations
in interface RelationalProperty
public Matrix getJacobianOfObservationConstraints()
RelationalProperty
getJacobianOfObservationConstraints
in interface RelationalProperty
public Vector getValueOfObservationConstraints()
RelationalProperty
getValueOfObservationConstraints
in interface RelationalProperty
public Matrix getCovarianceOfObservations()
getCovarianceOfObservations
in interface RelationalProperty
public Matrix getReducedCovarianceOfObservations()
getReducedCovarianceOfObservations
in interface RelationalProperty
public static double[] doCondition(RelationalProperty[] rprops)
rprops
- a set of Tri(!)RelationalProperties. RelationalProperty is used
for compatibility reasons.
public static double[] doConditionOneFactor(RelationalProperty[] rprops)
rprops
- a set of Tri(!)RelationalProperties. RelationalProperty is used
for compatibility reasons.
public static void doCondition(RelationalProperty[] rprops, double[] f)
f
- the 2 conditioning factorsrprops
- a set of Tri(!)RelationalProperties. RelationalProperty is used
for compatibility reasons.private static Matrix ChangeOrderVecTrans(Matrix J)
J
- a matrix
public void ensureConstraints()
RelationalProperty
ensureConstraints
in interface RelationalProperty
public void changeNullspace()
RelationalProperty
changeNullspace
in interface RelationalProperty
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